CN104268887B - A kind of camera attitude scaling method and device suitable for the switching of many scenes - Google Patents
A kind of camera attitude scaling method and device suitable for the switching of many scenes Download PDFInfo
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- CN104268887B CN104268887B CN201410526130.9A CN201410526130A CN104268887B CN 104268887 B CN104268887 B CN 104268887B CN 201410526130 A CN201410526130 A CN 201410526130A CN 104268887 B CN104268887 B CN 104268887B
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention discloses a kind of camera attitude scaling method and device suitable for the switching of many scenes, belong to camera field.The camera attitude scaling method for being applied to the switching of many scenes includes：The toggle area switched according to default arbitrary shape scene under world coordinate system and the feature region of feature scene；According to the attitude that camera is demarcated under feature scene, corresponding attitude parameter is stored；Linear ratio relation between the coordinate of the coordinate actual point corresponding with panoramic scene for calculating actual point in feature scene；When detecting the toggle area that target switches into scene, according to the attitude parameter of linear ratio relation, feature region and correspondence scene, current scene is switched to the scene being triggered.Target can be effectively tracked in actual scene the invention enables using the camera of intelligent-tracking ball machine.
Description
Technical field
The present invention relates to camera field, and in particular to a kind of camera attitude scaling method and dress suitable for the switching of many scenes
Put.
Background technology
IT application in education sector is currently the inevitable choice that country realizes education great-leap-forward development, and intelligent teaching recording and broadcasting system is religion
Educate the basic and important component of informationization.Recording and broadcasting system needs to be tracked teacher video recording is taught with recording in teaching process
The teaching behavior of teacher, because teacher needs periphery and dais area below activity near dais, dais, therefore is related to camera lens and cuts
Change to ensure teacher always in video pictures.Therefore on the basis of existing fixed multiple scene switchover policy, how root
According to actual scene installation and debugging camera, the corresponding many scene attitude parameters of calibration for cameras, and ensure the switching of camera many scenes and with
Track effectively carries out tool and plays a very important role.
Prior art discloses the space modeling method for single gunlock-many ball machine linkages, the patent mainly provides one kind
Suitable for the space modeling method of single gunlock-many ball machine linkages, gunlock is gone out by carrying out 3d space Modeling Calculation to monitoring scene
Projective transformation matrix, then calculate the side-play amount of ball machine, last ball machine by obtaining the spatial positional information of tracking target
Turn to target.But the method for above-mentioned calibration for cameras is primarily adapted for use in the fixed gunlock of ball machine linkage, and calculates anti-with model
And also need to know the coordinate in real space a little, increase installation difficulty.
Prior art also discloses a kind of intelligent teaching recording and broadcasting system teacher's method for detecting position, and the patent mainly passes through
To in the picture frame in fixed camera demarcate dais region carry out motion detection and target detection, according to target in dais still
Outside dais, seat in the plane is shot to be switched to corresponding teacher or student to Autoconducting module by signal, the patent is equally only adapted to
In the fixed camera for thering is ball machine to link.
The content of the invention
In view of this, the present invention provides a kind of camera attitude scaling method and device suitable for the switching of many scenes, to reach
To the purpose for effectively tracking target in actual scene using the camera of intelligent-tracking ball machine, above-mentioned existing tracking is overcome
The defect that use environment is limited and installation difficulty is big.
The technical scheme that the present invention solves above-mentioned technical problem is as follows.
A kind of camera attitude scaling method suitable for the switching of many scenes, the method includes：
The toggle area and the feature of feature scene switched according to default arbitrary shape scene under world coordinate system
Region；
According to the attitude that camera is demarcated under feature scene, corresponding attitude parameter is stored；
Linear ratio between the coordinate of the coordinate actual point corresponding with panoramic scene for calculating actual point in feature scene
Example relation；
When detecting the toggle area that target switches into scene, according to linear ratio relation, feature region and corresponding fields
The attitude parameter of scape, current scene is switched to the scene being triggered.
The present invention also aims to provide a kind of camera attitude caliberating device suitable for the switching of many scenes, the device bag
Include：
Scene drawing module, for being cut according to default arbitrary shape scene under the world coordinate system where panoramic scene
The toggle area changed and the feature region of feature scene；
Attitude parameter memory module, for the attitude demarcated under feature scene according to camera, stores corresponding attitude ginseng
Number；
Computing module, for calculating the coordinate of actual point in feature scene and the coordinate of corresponding actual point in panoramic scene
Between linear ratio relation；
Scene handover module, for detect target into scene switching toggle area when, according to linear ratio relation,
Feature region and the attitude parameter of correspondence scene, current scene is switched to the scene being triggered.
In the method and apparatus for providing according to one embodiment of present invention, by pre-rendered good toggle area and
The feature region of feature scene, by the auxiliary of extraneous label, the attitude of calibration for cameras correspondence feature scene and panoramic scene
Parameter, and ensure that camera can accurately be switched by panorama to feature, feature and feature, when target is detected into toggle area,
The current scene of camera is switched to the corresponding scene of triggering so that this patent can solve the problem that single ball machine multiple fixed scene is cut
The problem changed, and because the point in the point and panorama in feature has corresponding relation, as long as calculate corresponding relation just can demarcate
Panorama, operates, simple and easy to apply.
Brief description of the drawings
Fig. 1 is the flow of the camera attitude scaling method switched suitable for many scenes according to one embodiment of the present of invention
Figure；
Fig. 2 is the stream of the camera attitude scaling method switched suitable for many scenes according to an alternative embodiment of the invention
Cheng Tu；
Fig. 3 is the feature area schematic of the middle feature scene according to one embodiment of the present of invention；
Fig. 4 is the feature area schematic of the left side feature scene according to one embodiment of the present of invention；
Fig. 5 is the feature area schematic of the right feature scene according to one embodiment of the present of invention；
Fig. 6 is the schematic diagram spliced according to the feature scene of left, center, right three of one embodiment of the present of invention；
Fig. 7 is the schematic diagram of the viewing area of the panoramic scene according to one embodiment of the present of invention；
Fig. 8 is the demonstration of the camera attitude caliberating device switched suitable for many scenes according to one embodiment of the present of invention
Property structured flowchart.
Specific embodiment
In order that the technical problems to be solved by the invention, technical scheme and beneficial effect are clearer, clear, below tie
Close accompanying drawing to be described principle of the invention and feature, example is served only for explaining the present invention, is not intended to limit this hair
Bright scope.
Fig. 1 is the flow of the camera attitude scaling method switched suitable for many scenes according to one embodiment of the present of invention
Figure, the camera attitude demarcation side suitable for the switching of many scenes according to an embodiment of the invention is described with reference to Fig. 1
Method, as shown in figure 1, the method is comprised the following steps：
Step S10, the toggle area switched according to default arbitrary shape scene under world coordinate system and feature
The feature region of scape.
Step S20, the attitude demarcated under feature scene according to camera, store corresponding attitude parameter.
Between step S30, the coordinate of the coordinate actual point corresponding with panoramic scene for calculating actual point in feature scene
Linear ratio relation.
Step S40, detect target into scene switching toggle area when, closed according to the above-mentioned linear scale that calculates
The attitude parameter of system, feature region and correspondence scene, current scene is switched to the scene being triggered.
In an embodiment of the present invention, because the point in the point and panorama in feature has close corresponding with true location point
System, by the software and demarcating steps at pre-designed installation and debugging interface, and by the auxiliary of extraneous label (teacher),
The attitude of calibration for cameras correspondence feature scene and panoramic scene, and ensure that camera can be accurate by panorama to feature, feature and feature
Switching, finally completes scene switching.
Wherein, the toggle area of scene switching includes the toggle area between panoramic scene and feature scene, when definition
When feature scene has multiple, also including the toggle area between different feature scenes；Above-mentioned attitude parameter is included but is not limited to
The focal length of the horizontal parameters, pitch parameter and camera of camera.
Preferably, for the position where the pose adjustment to target in the feature scene more accurately by camera
Put, above-mentioned feature scene includes left side feature scene, the right feature scene and middle feature scene；Toggle area it is corresponding including
Left side feature scenario triggered region, the right feature scenario triggered region and middle feature scenario triggered region；The spy of feature scene
Write the feature area in feature region of the region including left side feature scene, the feature region of middle feature scene and the right feature scene
Domain.
For above-mentioned steps S10, method can also include according to an embodiment of the invention：
By the feature area in the feature region of left side feature scene, the feature region of middle feature scene and the right feature scene
Draw out in domain；
In feature scene spliced map, the feature region of left side feature scene and the feature region of middle feature scene are selected
The center line of lap is used as the first center line；The feature region of the feature region of feature scene and the right feature scene in the middle of selected
The center line of lap is used as the second center line；
The first center line and the second center line in feature scene spliced map correspond to the first center line and in panoramic scene figure
Two center lines, the first center line is defined as the feature of the feature region of left side feature scene and middle feature scene under panoramic scene
Line of demarcation between region；Second center line is defined as the feature region of middle feature scene and the feature area of the right feature scene
Line of demarcation between domain.
An example according to the present embodiment, switches camera lens from panoramic scene according to above-mentioned first center line and the second center line
Method to suitable feature scene includes：
Under panoramic scene, the feature scene according to corresponding to the first center line and the second center line judge target；
According to the feature region of pre-rendered feature scene, current panoramic scene is switched to correspondence feature scene
Feature region.
It is switched to as a example by the feature region of left side feature scene from panoramic scene by by camera lens, below against Fig. 6 to the party
Case is explained.
When detecting target in the first center line m1n1The left side when, judge that target enters left side feature scene, now according to pre-
The attitude of the camera corresponding with left side feature scene for first storing, left side feature scene is switched to by current panoramic scene, is cut
The display of rear camera display screen is changed as shown in figure 4, the feature region of left side feature scene corresponding with left side feature scene
a1b1d1c1Display as shown in Figure 4.
In an embodiment of the present invention, due to having the region for overlapping between the feature region of adjacent feature scene, this
The purpose of embodiment is in order that proper teacher enters panorama spy when camera is in panorama attitude from any position of any direction
When writing toggle area, unique suitable feature scene can be switched to,
Embodiment one
Fig. 2 shows the camera attitude scaling method suitable for the switching of many scenes according to another embodiment of the invention
Flow chart, for convenience of description, only list the related content of the embodiment of the present invention, details are as follows.
Used as a preferred embodiment of the present invention, the feature region of above-mentioned feature scene is rectangle, when feature scene is two
During the individual above, above-mentioned steps S30 is specifically included：
Step S31, the actual point under world coordinate system according to represented by the summit demarcated determine the feature of feature scene
The apex coordinate in region；
Step S32, under world coordinate system, actual point-rendering panoramic scene according to corresponding to apex coordinate and feature
The splicing picture of scape；
Step S33, according to the linear ratio relation between the coordinate on summit in summit in panoramic scene and feature scene, meter
Calculate the coordinate of other actual points in other actual points correspondence feature scene in panoramic scene.
Preferably, under feature scene, the side of lateral boundaries and the camera display screen in the feature region of scene switching
Between width be a people body it is wide, scope can be 25~50cm.
Used as preferred, the method also includes step S50：
Step S50, attitude parameter of the camera under panoramic scene, the attitude parameter under feature scene and summit are existed
Coordinate in different scenes is stored in the inside chip of camera.
In an embodiment of the present invention, the embodiment is mainly to provide toggle area corresponding points in calculating panoramic scene picture
Coordinate calculation method, according to the corresponding relation at feature scene spliced map and panoramic scene picture and actual scene midpoint.
Embodiment two
Fig. 3 is the feature area schematic of the middle feature scene according to one embodiment of the present of invention, used as the present invention
A preferred embodiment, for convenience of description, only list the related content of the embodiment of the present invention, details are as follows.
As shown in figure 3, wherein rectangle A2B2D2C2The image that camera video picture boundaries are constituted is represented, is painted on image
Rectangle a processed2b2d2c2, rectangle s2w2v2u2, line segment RtRbAnd line segment LtLb.When current scene is feature scene, rectangle
a2b2d2c2The feature region of the feature scene under image coordinate system is represented, more than the triggering that the region will enter feature scene
Region, for example, detect target into line segment a2b2Left side when, current middle feature scene is switched to left side feature
Scape, detects target into line segment c2d2Right side when, by current middle feature scene be switched to the right feature scene, rectangle
s2w2v2u2What represented image-region was referred to is that region under world coordinate system is that panoramic scene is switched to the feature scene
Toggle area, but do not include whole toggle areas, line segment RtRbThe conversion of feature scene and the right feature scene in the middle of representing
Line, line segment LtLbThe conversion line of feature scene and left side feature scene, temporary transient line segment R in the middle of representingtRbWith rectangular edges u2v2Overlap,
Line segment LtLbWith rectangular edges s2w2Overlap.
Likewise, as shown in Figure 4 and Figure 5, the feature area of the feature region of feature scene and the right feature scene on the left side
Also corresponding rectangle and line segment are drawn in domain.
Occur with suitable size in the picture of feature scene to ensure teacher, as shown in Fig. 3~Fig. 5, scene switching
Feature region lateral boundaries (a2b2d2c2Right edge line segment) width L and the side of camera display screen between1It is one
The body of people is wide, while taking the width L of feature scene and the toggle area overlapping region of feature scene herein2=2L1, ensure phase
Machine from a feature scene be switched to another feature scene after teacher be substantially at the immediate vicinity of picture.
It should be noted that feature scene needs to be debugged in actual scene, closed with target sizes after ensureing switching
Accommodate target location and be in picture immediate vicinity, old friend is that auxiliary calibration is more simple and easy to apply.Used as preferred, the method can be with
Including：
The drafting of the feature toggle area and panorama feature toggle area at teacher's tracking ball machine software debugging interface and each
Plant the drafting of firing line etc.；
The attitude of teacher's tracking ball machine correspondence feature scene is demarcated.
Specifically, teacher's tracking ball machine is demarcated feature scene in the middle of classroom, teacher's tracking ball machine and demarcates classroom left side feature
Scene, teacher's tracking ball machine demarcate classroom the right feature scene.
In an embodiment of the present invention, the purpose of the embodiment is to provide in the world coordinate system where panoramic scene
The viewing area of the lower toggle area switched according to default arbitrary shape scene and feature scene, uses for subsequent step.
Meanwhile, in the software picture of teacher's tracking ball machine feature scene, the panorama in feature scene is switched to the toggle area of feature
Right boundary overlapped with feature scene switch line, and in left and right feature scene the toggle area of corresponding panorama border
Point is marked with label, is that the attitude demarcation of teacher's tracking ball machine correspondence panorama is prepared.
Embodiment three
For convenience of description, the related content of the embodiment of the present invention is only listed, details are as follows.
For above-mentioned steps S30, the attitude demarcated under feature scene according to camera, corresponding attitude parameter is stored, when
When feature scene includes left side feature scene, the right feature scene and middle feature scene, correspondence demarcate in different features
The attitude of camera is also differed under scape, as a preferred embodiment of the present invention, specifically, in the middle of demarcating during feature scene：
By software installation Debugging interface, the horizontal pan of camera is adjusted, camera is probably turned into mid-scene, make software
The horizontal line that the camera of acquisition obtains the drafting on image is parallel with the horizontal line in actual scene；
Then adjust camera focal length zoom so that in Fig. 4 represent apart from L1The body position of people be able to be accommodated；
Adjust the pitching tilt of camera so that the top half of target (teacher) can fall in rectangle s2w2v2u2In；
The camera attitude parameter of middle feature scene is adjusted to be finished, and now marks line segment R with labeltRbAnd line segment
LtLbEnd points RbAnd LbPlanar point position in scene under corresponding world coordinate system, so far, feature scene in the middle of correspondence
Camera attitude and middle feature scene calibration finish, record camera attitude parameter now.
When demarcating left side feature scene：
By software installation Debugging interface, keep focal length zoom constant, first adjust the horizontal pan of camera, camera is moved
To left side scene, and pitching tilt is finely adjusted so that the line segment Ml in the software interface shown in Fig. 4tMlbEnd points MlbWith
Feature scene end points L in the middle of correspondencebLabel overlap.
The camera attitude of left side feature scene is adjusted to be finished, now with mark substance markers rectangle s1w1v1u1Upper left
Summit s1Planar point position in scene under corresponding world coordinate system, so far, the camera appearance of correspondence left side feature scene
State and left side feature scene calibration are finished, record camera attitude parameter now.
When demarcating the right feature scene：
Now by software installation Debugging interface, keep focal length zoom constant, first adjust the horizontal pan of camera, camera is moved
Move to the right scene, and pitching tilt is finely adjusted so that the line segment Mr in the software interface shown in Fig. 5tMrbEnd points Mrb
With corresponding middle feature scene end points RbLabel overlap.
The camera attitude of the right feature scene is adjusted to be finished, now with mark substance markers rectangle s3w3v3u3Lower-left
Vertex v3Planar point position in scene under corresponding world coordinate system, so far, the camera appearance of correspondence the right feature scene
State and the right feature scene calibration are finished, record camera attitude parameter now.
The purpose of the embodiment is with reference to accompanying drawing, to demarcate left side feature scene, middle feature scene, the right feature
The attitude kept required for camera during scape provides a kind of feasible scheme.
Example IV
For convenience of description, the related content of the embodiment of the present invention is only listed, details are as follows.
Fig. 6 is according to the left side feature scene of one embodiment of the present of invention, middle feature scene and the right feature scene
Splicing schematic diagram, for convenience of description, only list the related content of the embodiment of the present invention, details are as follows.
As shown in Fig. 4~Fig. 6, used as a preferred embodiment of the present invention, the specific calculating process of above-mentioned steps S30 is such as
Under.
First, it is stipulated that the regional location of panorama triggering：
The corresponding software interface of feature scene under world coordinate system is arranged according to the position under world coordinate system, can be with
See rough position distribution of three feature scenes under world coordinate system, left, center, right feature is from left to right represented successively
Scape, the line segment Ml of left side feature scenetMlb, c1d1 rectangular edges rectangular edges a2b2, line segment L respectively with middle feature scenetLb
Overlap, the line segment R of middle feature scenetRb, rectangular edges c2d2 respectively with rectangular edges a3b3, the line segment of the right feature scene
MrtMrbOverlap.
Here, point s1、w1、v3、u3Constitute a rectangle s1w1v3u3, in order to left, center, right are triggered in strictly distinguishing panorama
Region, line taking section m1n1、m2n2As shown in figure 5, m1n1To divide rectangle a equally2b2d1c1Straight line and rectangle s1w1v3u3Intersection (on
State the first center line), same m2n2To divide rectangle a equally3b3d2c2Straight line and rectangle s1w1v3u3Intersection (above-mentioned second center line),
Increase by 0.5 times of a simultaneously in left and right feature scene2c1Length rectangle wide, as shown in fig. 6, now rectangle s1w1v3u3Expand and be
Rectangle s1′w1′v3′u3', rectangle s1′w1′n1m1It is that left side feature toggle area, rectangle m are switched under panoramic scene1n1n2m2
It is that middle feature toggle area, rectangle m are switched under panoramic scene2n2v3′u3' it is that the right spy is switched under panoramic scene
Write toggle area.
Then, then proportionate relationship between panorama toggle area is calculated：
According to the characteristics of camera imaging model, the proportionate relationship between line segment keeps constant in imaging process, therefore, can
To calculate the line segment proportionate relationship under world coordinate system according to the corresponding image frame of three feature scenes, so that the line segment is closed
After system is mapped in the camera review picture under panorama attitude, line segment proportionate relationship remains in that constant.With reference to Fig. 5, directly
According to the s in the different feature scenes of correspondence1And v3Label carry out the dividing condition of direct access panorama toggle area, here is
Calculating process：
1. s in feature scene is obtained1m1、m1m2、m2u3Length relation
In this example, line segment MltMlbWith rectangular edges s1u3、w1v3Intersection point be respectively u1′、v1', line segment MltMlbWith rectangle
Side s1u3、w1v3Intersection point be respectively u1′、v1', line segment LtLbWith rectangular edges s1u3、w1v3Intersection point difference s2′、w2', line segment RtRb
With rectangular edges s1u3、w1v3Intersection point difference u2′、v2', line segment MrtMrbWith rectangular edges s1u3、w1v3Intersection point difference s3′、w3′。
s1m1=s1u1′+u1′m1
m1m2=m1s2′+s2′u2′+u2′m2=s2′u2′+2u1′m1
m2u3=m2s3′+s3′u3=s1u1′+u1′m1
Wherein, s1u1'=Mltxl-s1xl, s2′u2'=Rtxm-Ltxm,Its
Middle LtxlRepresent LtCoordinate of the point under the feature scene of the left side, wherein LtxmRepresent LtCoordinate of the point under middle feature scene, its
It puts similar.Further can be in the hope of s by the result of above-mentioned formula1m1、m1m2、m2u3Proportionate relationship between three line segments with
And the proportionate relationship between u1 ' m1 and three line segments：
S in the image that feature scene image is spliced into1m1、m1m2、m2u3Proportionate relationship between three line segments is generation
S in boundary's coordinate system1m1、m1m2、m2u3Proportionate relationship between the corresponding actual line segment of three line segments.
2. the position of toggle area in panorama is calculated
Refering to Fig. 6, compares figure 5, rectangle EFLK correspondence rectangles s1w1v3u3, rectangle E ' F ' L ' K ' correspondence rectangles s1′w1′v3′
u3', rectangle E ' F ' HG correspondence rectangles s1′w1′n1m1, rectangle GHJI correspondence rectangles m1n1n2m2, rectangle IJL ' K ' correspondence rectangles
m2n2v3′u3', they all correspond to the same area and position in real scene.
Now s in E points and L points corresponding diagram 51And v3, they jointly correspond to actual scene in label, with mouse or its
His mode obtains the coordinate of E, L point, and the calculating process for now calculating the coordinate of remaining each point is as follows：
Hx=Gx,Hy=Ly；Jx=Ix,Jy=Ly
F′x=E 'x,F′y=Ly；L′x=K 'x,L′y=Ly
Subscript x represents abscissa a little, and subscript y represents ordinate a little, and it is right in Fig. 7 and Fig. 6 to have been used in above-mentioned formula
The proportionate relationship between line segment is answered, is gone in the coordinate programming that these are put to camera chip.
The present embodiment is that above-described embodiment one provides a kind of further specific algorithm, its object is to calculate panorama
After being switched between scene and feature scene, the linear ratio relation of the coordinate of corresponding actual point in image.
Embodiment five
For convenience of description, the related content of the embodiment of the present invention is only listed, details are as follows.
Due to having the region for overlapping between adjacent feature scene, it is necessary to which the region that partly overlaps is specified so that
Can be switched to when teacher enters panorama feature toggle area when camera is in panorama attitude from any position of any direction
Unique suitable feature scene.Herein, propose that the toggle area of the feature scene to overlapping is divided equally.
According to the characteristics of camera imaging model, the proportionate relationship between line segment keeps constant in imaging process, with reference to Fig. 6
(the picture splicing figure of feature scene), compares figure 7 (panorama), the toggle area rectangle frame of left side feature scene in Fig. 6
a1b1d1c1With the toggle area rectangle frame a of middle feature scene2b2d2c2There is overlapping region rectangle frame a2b2d1c1, the region is original
Without definition, therefore the overlapping region is divided equally, the trigger region of the panorama in bisector and feature scene spliced map to feature
Domain rectangle s1′w1′v3′u3' intersection be m1n1, equally, the right feature scene is overlap with the toggle area of middle feature scene
The bisector in region and rectangle s1′w1′v3′u3' intersection be m2n2.Toggle area E ' F ' L ' the K ' of panorama in Fig. 6 to feature
S in corresponding diagram 51′w1′v3′u3', while line segment EF, GH, IJ, KL correspondence line segment s1w1、m1n1、m2n2、u3v3, so in tracking
When ball machine is in panorama attitude, after teacher is into panorama to the toggle area of feature, as long as in-position is in the left side of GH, ball machine
Left side feature scene, the right side of IJ will be switched to, ball machine will be switched to the right feature scene, if between GH and IJ, ball machine
Middle feature scene will be switched to.
The purpose of the present embodiment is when teacher enters when camera is in panorama attitude from any position of any direction
During panorama feature toggle area, unique suitable feature scene can be automatically switched to.
Embodiment six
Fig. 8 shows the camera attitude caliberating device suitable for the switching of many scenes according to an embodiment of the invention
A kind of exemplary block diagram, camera attitude caliberating device suitable for the switching of many scenes as shown in Figure 8, device includes：
Scene drawing module 10, under the world coordinate system where panoramic scene according to default arbitrary shape scene
The toggle area of switching and the feature region of feature scene；
Attitude parameter memory module 20, for the attitude demarcated under feature scene according to camera, stores corresponding attitude
Parameter；
Computing module 30, for calculating the coordinate of actual point in feature scene and the seat of corresponding actual point in panoramic scene
Linear ratio relation between mark；
Scene handover module 40, when entering the toggle area of scene switching for detecting target, closes according to linear scale
The attitude parameter of system, feature region and correspondence scene, current scene is switched to the scene being triggered.
Wherein, preferably, the camera attitude caliberating device that should be applied to the switching of many scenes also includes：
Parameter storage unit, for by attitude parameter of the camera under panoramic scene, the attitude parameter under feature scene,
And coordinate of the summit in different scenes is in the inside chip of camera.
Above-mentioned computing module 30 is specifically included：
Apex coordinate corresponding unit 31, determines for the actual point under world coordinate system according to represented by the summit demarcated
The apex coordinate in the feature region of feature scene；
Picture splicing unit 32, under world coordinate system, the actual point-rendering panorama according to corresponding to apex coordinate
The splicing picture of scene and feature scene；
Computing unit 33, for according to the linear scale between the coordinate on summit in summit in panoramic scene and feature scene
Relation, calculates the coordinate of other actual points in other actual points correspondence feature scene in panoramic scene.
Above-mentioned scene drawing module 10 is specifically included：
Feature scene drawing module, for by the feature region in the feature region of left side feature scene, middle feature scene
Drawn out under the world coordinate system where panoramic scene in feature region with the right feature scene；
Center line chosen module, for selecting the feature region of left side feature scene and the feature region weight of middle feature scene
The center line of folded part is used as the first center line；The feature region of feature scene is heavy with the feature region of the right feature scene in the middle of selected
The center line of folded part is used as the second center line；
Line of demarcation determining module, the feature region of the left side feature scene under panoramic scene is defined as with by the first center line
Between feature scene feature region between line of demarcation；Second center line is defined as the spy of feature scene in the middle of under panoramic scene
Write the line of demarcation between the feature region of region and the right feature scene.
Used as preferred, above-mentioned scene handover module 40 is specifically included：
Object judgement unit, under panoramic scene, according to corresponding to the first center line and the second center line judge target
Feature scene；
Switch unit, according to the feature region of pre-rendered feature scene, correspondence feature is switched to by current scene
The feature region of scape.
In the method and apparatus for providing according to one embodiment of present invention, by pre-rendered good toggle area and
The viewing area of feature scene, by the auxiliary of extraneous label, the attitude of calibration for cameras correspondence feature scene and panoramic scene
Parameter, and ensure that camera can accurately be switched by panorama to feature, feature and feature, when target is detected into toggle area,
The current scene of camera is switched to the corresponding scene of triggering so that this patent can solve the problem that single ball machine multiple fixed scene is cut
The problem changed, and because the point in the point and panorama in feature has corresponding relation, as long as calculate corresponding relation just can demarcate
Panorama, operates, simple and easy to apply.
It will be appreciated by those skilled in the art that for the unit that above-described embodiment includes is to be carried out according to function logic
Divide, but be not limited to above-mentioned division, as long as corresponding function can be realized；In addition, the tool of each functional unit
Body title is also only to facilitate mutually distinguish, the protection domain being not intended to limit the invention.
Those of ordinary skill in the art are further appreciated that all or part of step realized in above-described embodiment method is can
Completed with instructing the hardware of correlation by program, described program can be stored in a computer read/write memory medium
In, described storage medium, including ROM/RAM, disk, CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. it is a kind of suitable for many scenes switching camera attitude scaling method, it is characterised in that methods described includes：
The toggle area switched according to default arbitrary shape scene under world coordinate system and the feature region of feature scene；
According to the attitude that camera is demarcated under feature scene, corresponding attitude parameter is stored；
Linear scale between the coordinate of the coordinate actual point corresponding with panoramic scene for calculating actual point in feature scene is closed
System；
When detecting the toggle area that target switches into the scene, according to the linear ratio relation, the feature region
With the attitude parameter of the scene, current scene is switched to the scene being triggered.
2. method according to claim 1, it is characterised in that the feature scene includes that left side feature scene, the right are special
Write field scape and middle feature scene；The toggle area includes left side feature scenario triggered region, the right feature scenario triggered area
Domain and middle feature scenario triggered region；The feature region of the feature scene includes feature region, the right side of left side feature scene
The feature region of side feature scene and the feature region of middle feature scene.
3. method according to claim 2, it is characterised in that under the world coordinate system where panoramic scene, for institute
The method for stating the toggle area switched according to default arbitrary shape scene also includes：
By the feature area in the feature region of the left side feature scene, the feature region of middle feature scene and the right feature scene
Drawn out under the world coordinate system where panoramic scene in domain；
Select the center line of the feature region lap in the feature region and the middle feature scene of the left side feature scene
As the first center line；Select the feature region of the middle feature scene and the feature region overlapping portion of the right feature scene
The center line for dividing is used as the second center line；
First center line is defined as the spy of the feature region of left side feature scene and middle feature scene under panoramic scene
Write the line of demarcation between region；Second center line is defined as the feature region of feature scene and the right side in the middle of under panoramic scene
Line of demarcation between the feature region of side feature scene.
4. method according to claim 3, it is characterised in that detect target into scene switching for described
During toggle area, the method that current scene is switched to the scene being triggered also includes：
Under panoramic scene, the feature scene according to corresponding to first center line and second center line judge target；
According to the feature region of pre-rendered feature scene, current scene is switched to the feature region of correspondence feature scene.
5. method according to claim 1, it is characterised in that the feature region of the feature scene is rectangle, when described
When feature scene is two or more, methods described also includes：
Actual point under the world coordinate system according to represented by the summit demarcated determines the feature region of the feature scene
Apex coordinate；
Under the world coordinate system, panoramic scene described in the actual point-rendering according to corresponding to the apex coordinate and the spy
The splicing picture of write field scape；
According to the linear ratio relation between the coordinate on summit in summit in panoramic scene and feature scene, in calculating panoramic scene
Other actual points correspondence feature scene in other actual points coordinate.
6. method according to claim 5, it is characterised in that methods described also includes：
By attitude parameter of the camera under panoramic scene, the attitude parameter under feature scene and the summit in different fields
Coordinate in scape is stored in the inside chip of camera.
7. the method according to any one of claim 1 to 6, it is characterised in that under the feature scene, the scene is cut
Width range between the lateral boundaries in the feature region changed and the side of the camera display screen is 25~50cm.
8. it is a kind of suitable for many scenes switching camera attitude caliberating device, it is characterised in that described device includes：
Scene drawing module, for the toggle area switched according to default arbitrary shape scene under world coordinate system and spy
The feature region of write field scape；
Attitude parameter memory module, for the attitude demarcated under feature scene according to camera, stores corresponding attitude parameter；
Computing module, for calculating between the coordinate of actual point in feature scene and the coordinate of corresponding actual point in panoramic scene
Linear ratio relation；
Scene handover module, when entering the toggle area of scene switching for detecting target, according to the linear scale
The attitude parameter of relation, the feature region and the scene, current scene is switched to the scene being triggered.
9. device according to claim 8, it is characterised in that described device includes：
Apex coordinate corresponding unit, institute is determined for the actual point under the world coordinate system according to represented by the summit demarcated
State the apex coordinate in the feature region of feature scene；
Picture splicing unit, under the world coordinate system, the actual point-rendering institute according to corresponding to the apex coordinate
State the splicing picture of panoramic scene and the feature scene；
Computing unit, for according to the linear ratio relation between the coordinate on summit in summit in panoramic scene and feature scene,
Calculate the coordinate of other actual points in other actual points correspondence feature scene in panoramic scene.
10. device according to claim 9, it is characterised in that described device also includes：
Parameter storage unit, for by attitude parameter of the camera under panoramic scene, the attitude parameter under feature scene and
Coordinate of the summit in different scenes is stored in the inside chip of camera.
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| CN104869365B (en) * | 2015-06-02 | 2018-12-18 | 阔地教育科技有限公司 | A kind of mouse tracking method and device based on straight recording and broadcasting system |
| CN108230348B (en) * | 2016-12-22 | 2022-01-21 | 杭州海康威视数字技术股份有限公司 | Target tracking method and device |
| CN112308766B (en) * | 2020-10-19 | 2023-11-24 | 武汉中科通达高新技术股份有限公司 | Image data display method and device, electronic equipment and storage medium |
| CN112907652B (en) * | 2021-01-25 | 2024-02-02 | 脸萌有限公司 | Camera pose acquisition method, video processing method, display device, and storage medium |
| CN114125267B (en) * | 2021-10-19 | 2024-01-19 | 上海赛连信息科技有限公司 | Intelligent tracking method and device for camera |
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